\documentclass{article}
\usepackage[x11names, rgb]{xcolor}
\usepackage[utf8]{inputenc}
\usepackage{tikz}
\usetikzlibrary{snakes,arrows,shapes}
\usepackage{amsmath}
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\usepackage[active,tightpage]{preview}
\PreviewEnvironment{tikzpicture}
\setlength\PreviewBorder{0pt}%
\usetikzlibrary{automata}%

\begin{document}
\pagestyle{empty}
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%
%

\enlargethispage{100cm}
% Start of code
% \begin{tikzpicture}[anchor=mid,>=latex',join=bevel,]
\begin{tikzpicture}[>=latex',join=bevel,]
  \pgfsetlinewidth{1bp}
\Huge%
\pgfsetcolor{black}
  % Edge: q5 -> q3
  \draw [->] (66bp,88bp) .. controls (62bp,78bp) and (59bp,64bp)  .. (64bp,54bp) .. controls (68bp,45bp) and (75bp,39bp)  .. (91bp,28bp);
  \draw (70bp,62bp) node[auto] {$c$};
  % Edge: q5 -> q3
  \draw [->] (82bp,89bp) .. controls (88bp,76bp) and (95bp,59bp)  .. (106bp,35bp);
  \draw (105bp,62bp) node[auto] {$a$};
  % Edge: q4 -> q3
  \draw [->] (139bp,88bp) .. controls (137bp,83bp) and (134bp,76bp)  .. (132bp,70bp) .. controls (129bp,62bp) and (126bp,54bp)  .. (120bp,36bp);
  \draw (137bp,62bp) node[auto] {$b$};
  % Edge: q4 -> q3
  \draw [->] (149bp,88bp) .. controls (151bp,78bp) and (151bp,65bp)  .. (148bp,54bp) .. controls (146bp,47bp) and (144bp,42bp)  .. (136bp,29bp);
  \draw (160bp,62bp) node[auto] {$a$};
  % Edge: q1 -> q3
  \draw [->] (90bp,202bp) .. controls (57bp,180bp) and (44bp,166bp)  .. (27bp,124bp) .. controls (22bp,109bp) and (22bp,103bp)  .. (27bp,88bp) .. controls (39bp,54bp) and (47bp,40bp)  .. (87bp,19bp);
  \draw (45bp,140bp) node[auto] {$a$};
  % Edge: q1 -> q5
  \draw [->] (104bp,196bp) .. controls (98bp,179bp) and (90bp,153bp)  .. (80bp,124bp);
  \draw (85bp,160bp) node[auto] {$\tau$};
  % Edge: q1 -> q4
  \draw [->] (116bp,196bp) .. controls (122bp,179bp) and (130bp,153bp)  .. (140bp,124bp);
  \draw (138bp,160bp) node[auto] {$\tau$};
  % Edge: q2 -> q3
  \draw [->] (194bp,142bp) .. controls (192bp,127bp) and (188bp,105bp)  .. (182bp,88bp) .. controls (171bp,58bp) and (172bp,41bp)  .. (141bp,20bp);
  \draw (195bp,106bp) node[auto] {$a$};
  % Edge: q0 -> q2
  \draw [->] (156bp,284bp) .. controls (164bp,260bp) and (178bp,216bp)  .. (190bp,178bp);
  \draw (175bp,258bp) node[auto] {$\tau$};
  % Edge: q0 -> q1
  \draw [->] (142bp,285bp) .. controls (136bp,272bp) and (129bp,255bp)  .. (118bp,231bp);
  \draw (122bp,258bp) node[auto] {$\tau$};
  % Node: q0
\begin{scope}
  \draw [state] (150bp,302bp) ellipse (27bp and 18bp);
  \draw (150bp,302bp) node {$q_{0}$};
\end{scope}
  % Node: q3
\begin{scope}
  \draw [state] (114bp,18bp) ellipse (27bp and 18bp);
  \draw (114bp,18bp) node {$q_{3}$};
\end{scope}
  % Node: q5
\begin{scope}
  \draw [state] (74bp,106bp) ellipse (27bp and 18bp);
  \draw (74bp,106bp) node {$q_{5}$};
\end{scope}
  % Node: q4
\begin{scope}
  \draw [state] (146bp,106bp) ellipse (27bp and 18bp);
  \draw (146bp,106bp) node {$q_{4}$};
\end{scope}
  % Node: q1
\begin{scope}
  \draw [state] (110bp,214bp) ellipse (27bp and 18bp);
  \draw (110bp,214bp) node {$q_{1}$};
\end{scope}
  % Node: q2
\begin{scope}
  \draw [state] (196bp,160bp) ellipse (27bp and 18bp);
  \draw (196bp,160bp) node {$q_{2}$};
\end{scope}
%
\end{tikzpicture}
% End of code

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\end{document}
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